if(leftMotorSpeed > 0 && rightMotorSpeed > 0 )
{
// set motor speeds using the two motor speed variables above
    set_motors_position(leftMotorSpeed, rightMotorSpeed);
}
else
{
set_motors_negative(leftMotorSpeed, rightMotorSpeed);

}

}

void set_motors_negative(int motor1speed, int motor2speed)
{

if (motor1speed > M1_maksimum_speed ) motor1speed = M1_maksimum_speed;
if (motor2speed > M2_maksimum_speed ) motor2speed = M2_maksimum_speed;

if (motor1speed < -M1_maksimum_speed ) motor1speed = -M1_maksimum_speed;
if (motor2speed < -M2_maksimum_speed ) motor2speed = -M2_maksimum_speed;
if (motor1speed < 0)
{
motor1speed *=-1

motor1.setSpeed(motor1speed);
motor1.run(BACKWARD);

}
if (motor2speed < 0)
{
 motor2speed *= -1;
motor2.setSpeed(motor2speed);

motor2.run(BACKWARD);

}
}